DocumentCode
2043938
Title
Development of Souryu-I connected crawler vehicle for inspection of narrow and winding space
Author
Takayama, Toshio ; Hirose, Shigeo
Author_Institution
Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan
Volume
1
fYear
2000
fDate
2000
Firstpage
143
Abstract
A prototype of the connected crawler vehicle for inspection in a narrow and winding space, named Souryu-I, was developed for the purpose of searching someone who is trapped in a collapsed house or building. The requirements of both ease of control and toughness are the basic design criteria of this vehicle. Based on these principles, we determine the actual vehicle mechanical characteristics. The mechanical design and performance of this vehicle are discussed
Keywords
emergency services; inspection; mobile robots; motion control; position control; 2D active articulation; Souryu I; connected crawler vehicle; gap crossing; mechanical design; mobile robots; motion control; rescue robots; steering; Aerospace engineering; Buildings; Crawlers; Inspection; Leg; Propulsion; Space technology; Space vehicles; Vehicle driving; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location
Nagoya
Print_ISBN
0-7803-6456-2
Type
conf
DOI
10.1109/IECON.2000.973140
Filename
973140
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